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Just an update: after reading jjrandorin's response, I went ahead and turned off the "Lane departure Warning" in the car's touch monitor and to my surprise, the micro-shaking seems stopped. Looks like no need to worry about it...

Thanks, I read the manual and the only related part is the "Lane departure" where a shake is designed to remind the driver, but it's unlikely my issue: when I noticed this shaking, I was not changling lane at all.

I have been noticing suden small shaking of striring wheel which lasts only a split second. The feeling is like accidently touched a wire with small electric current and get starttled; or touching a running massager. It happens on both local driving and highway driving. I sent my car to Tesla...

Very disappointing that Tesla removed the report button; I have no way to contribute to a better FSD.